Ultralow-height omni-directional heavy-load transfer trolley

Abstract

The invention discloses an ultra-low-height omni-directional heavy-load transfer trolley which comprises a trolley body, a lifting mechanism, a driving device, an anti-explosion lead-acid battery, an anti-explosion remote control device, a control box, a driving box, a vibration detection terminal, a charging socket and storage and transportation accessory equipment. The lifting mechanisms, the anti-explosion lead-acid battery, the control box, the driving box, the vibration detection terminal and the charging socket are all installed in the vehicle body, the lifting mechanisms are symmetrically arranged on the two sides of the vehicle body, the driving device is installed at the bottom of the vehicle body, and the storage and transportation accessory equipment is detachably connected with the vehicle body. The overall height of the transfer trolley is smaller than or equal to 450 mm, the rated load is larger than or equal to 6 t, the anti-explosion grade reaches the IIBT4 grade, and the transfer trolley is suitable for ship cabin narrow space operation under the five-grade sea condition. By being applied to the comprehensive supply ship, loading, unloading, transferring and storing of various types of transferring objects can be independently completed, the transferring trolley has the omni-directional walking capacity, the whole trolley is low in height, and the transferring trolley is suitable for walking in a cabin or going in and out of an elevator in the on-load state and the no-load state.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of mobile conveying equipment for ships, in particular to an ultra-low-height omnidirectional heavy-load transfer vehicle, mainly applied to the loading, unloading and omnidirectional transfer conveying of various types of aviation materials and spare parts, and especially suitable for transfer operations in narrow spaces of ship cabins and special marine environments. BACKGROUND

[0002] In the field of mobile conveying equipment for ships, when a transfer vehicle is used to transfer goods in the cabin of the ship body under specific sea conditions, it needs to meet the passability of the vehicle in the narrow cabin passage, and needs to overcome the inertial force caused by the swing and settlement of the ship during operation to avoid damage to the vehicle structure or overturning of the vehicle. At the same time, the transfer vehicle needs to meet the transfer and fastening requirements of various transfer objects to avoid the transfer objects from falling or sliding off the transfer vehicle.

[0003] There are mainly the following problems in the current transfer vehicles in the industry: (1) The mainstream omnidirectional walking transfer vehicle uses the environment for land use, and does not meet the requirements of ship use in terms of load safety redundancy, structure surface treatment process, use environment conditions and selection of main components (motors, batteries, etc.).

[0004] (2) The existing 5t rated load explosion-proof heavy-load transfer vehicle cannot meet the passability requirements of narrow passages in the cabin, door sill obstacle, cabin door top beam limit, etc. in terms of vehicle size, especially in terms of vehicle height, under the premise of meeting the omnidirectional driving and lifting loading / unloading functions, the vehicle height is greater than 450mm, and the transfer object cannot pass through the height limit position after being loaded.

[0005] (3) The existing transfer vehicle cannot meet the requirements of normal work in extreme low temperature environment (-28℃), extreme high temperature environment (65℃), explosion-proof environment and 100% domestication at the same time in terms of selection of components.

[0006] (4) The existing mainstream transfer vehicle only has omnidirectional walking function, and needs to rely on a forklift or a lifting tool to lift and place the transfer object when loading and unloading goods. If the vehicle fails in an area where the forklift cannot enter or there is no lifting tool, it will have a serious impact on the dispatching operation.

[0007] (5) The existing transfer vehicle cannot meet the placement and fastening of various objects with a length size in the 0~8m span range under the requirement of 3.5t weight.

[0008] The prior art, such as the explosion-proof omnidirectional trackless flat car disclosed in patent (CN221251514U), has omnidirectional driving and explosion-proof functions, but is not designed for marine environment, has no salt mist mold protection, extreme temperature adaptation and vibration monitoring function, and the height of the car body is not optimized, which cannot adapt to the cabin height limit and needs external assistance for loading and unloading. The explosion-proof omnidirectional heavy load moving platform disclosed in patent (CN222555046U) uses Mecanum wheels and a jacking mechanism, but its chassis design does not meet the extremely low height requirement of marine use, there is no vibration detection system, and the components are not considered for marine environment adaptability, and the core pain points of marine transfer cannot be solved.

[0009] Therefore, there is an urgent need for an extremely low height omnidirectional heavy load transfer vehicle suitable for marine environment to solve the problems of single function, poor environmental adaptability, low localization rate and insufficient ship adaptability of existing transfer vehicles.

[0010] The main function of the present application is: (1) used for omnidirectional transfer and delivery of various types of aviation materials and spare parts in specific sea conditions; (2) the specially designed special tray can be compatible with the installation and fixation of various transfer objects, and can complete the electric loading and unloading operation of various transfer objects; (3) has explosion-proof function and can normally operate in Class 1 hazardous area.

[0011] (4) has motion monitoring function, vibration detection terminal is installed in the vehicle, motion sensor is installed on the vehicle body, and the inclination and vibration data of the transfer object are detected and recorded during transfer, and when the detected inclination and vibration data exceed the limit value, the control system makes safety response and alarm. SUMMARY

[0012] The purpose of the present application is to provide an extremely low height omnidirectional heavy load transfer vehicle suitable for marine environment to solve the defects of single function, environmental adaptability, localization and ship adaptability of existing transfer vehicles. Through explosion-proof design and adaptability design of the transfer vehicle, the transfer vehicle meets the normal working requirements in the narrow space environment of the cabin under five sea conditions, and the specially designed special tray can independently complete the installation, fixation, loading, unloading, transfer and storage of various aviation materials, without the need for external lifting tools to complete the whole operation process, improving the transfer operation efficiency and the adaptability of the transfer vehicle.

[0013] In order to achieve the above object, the technical scheme of the present application is: a very low height omnidirectional heavy load transfer trolley, comprising a trolley body, a lifting mechanism, a driving device, an explosion-proof lead-acid battery, an explosion-proof remote control device, a control box, a driving box, a vibration detection terminal, a charging socket and a storage and transportation auxiliary equipment; the lifting mechanism, the explosion-proof lead-acid battery, the control box, the driving box, the vibration detection terminal and the charging socket are all installed in the trolley body, the lifting mechanism is symmetrically arranged on both sides of the trolley body, the driving device is installed at the bottom of the trolley body, and the storage and transportation auxiliary equipment is detachably connected with the trolley body; the overall height of the transfer trolley is ≤450mm, the rated load is ≥6t, the explosion-proof grade reaches IIBT4 grade, and it is suitable for operation in narrow space of ship cabin under five-level sea conditions.

[0014] Further, the trolley body is composed of a cover assembly and a frame, the upper surface of the trolley body is provided with transverse and longitudinal support bars, and stop blocks for limiting the storage and transportation auxiliary equipment are installed on the support bars.

[0015] Further, the driving device is composed of four groups of double support rudders and driving motors, the double support rudders adopt a horizontal installation structure, the rudder support, the driving motor and the cable are all rigidly fixed to the frame and do not move with the rudder, the driving device can realize forward driving, crab driving and in-place rotation, and the wheel pressure is adapted to the protection requirements of ship deck coating.

[0016] Further, the lifting mechanism is composed of two groups of symmetrically arranged spiral lifting mechanisms, each group of spiral lifting mechanism comprises an elevator, a commutator, a motor, a right-angle planetary reducer and a connecting rod; the lifting stroke of the lifting mechanism is ≥100mm, and the loading and unloading operation of the transfer object can be independently completed without the aid of external lifting tools.

[0017] Further, the explosion-proof lead-acid battery increases the active material by compressing the positive and negative electrode plate spacing, increasing the length and width dimensions; under the premise of ensuring the capacity, the height is adapted to the very low installation requirements of the trolley body.

[0018] Further, the vibration detection terminal comprises a vibration sensor, a host, an explosion-proof switch box and data management software; the vibration sensor is installed on the upper surface of the trolley body and is used for real-time detection of the inclination and vibration data of the transfer object; the host is electrically connected with the control box, when the detection data exceeds the preset alarm threshold, an alarm signal is sent through the display screen and warning light of the explosion-proof remote control device, and a safety response is triggered.

[0019] Further, the operation panel of the explosion-proof remote control device is integrated with an explosion-proof display screen, a change-over switch, an emergency stop button, a joystick potentiometer, a warning light and a reset button; the joystick potentiometer supports simultaneous action in front and back and left and right directions, and realizes precise control of the omnidirectional walking posture of the transfer trolley.

[0020] Further, the control box is composed of an explosion-proof box body, a vehicle controller, a switching power supply, a relay, a contactor, a circuit breaker and a terminal; the drive box is composed of an explosion-proof box body, a motor driver, a contactor and a fuse; all the electrical components in the control box and the drive box are domestic components and are suitable for salt spray, mold and explosion-proof environment.

[0021] Further, the storage and transportation accessory equipment includes at least two kinds of transfer trays, a fastening belt, a limiting pin and a fixed pin; the transfer tray is provided with a tethering ring at four corners, is limited in the horizontal direction by the limiting pin and the vehicle body block, and is fixed in the vertical direction by the fastening belt; the transfer vehicle has an obstacle crossing function and a ditch crossing function, the obstacle crossing height is greater than or equal to 40 mm, and the ditch crossing width is greater than or equal to 80 mm; the bottom of the vehicle body is provided with a protection structure for protecting electrical components, which meets the requirements of ship cabin door sill obstacle crossing and passage driving.

[0022] A running method based on the extremely low height omnidirectional heavy load transfer vehicle includes the following steps: S1: vehicle starting, pressing the "start" button, the vehicle controller is powered on, and the three-color light is lit; S2: activating the vibration detection terminal, pressing the "power on" key of the line control box, inputting four digits after the screen is lit, and confirming, pressing the "work" button, and the vibration detection terminal starts to work; S3: walking mode selection, selecting the working condition as "transfer", selecting the vehicle driving mode according to the cabin space and the transfer route; S4: transfer object alignment, removing the manual stop lever of the outer side supporting leg of the transfer tray, controlling the transfer vehicle to drive from the narrow side of the transfer object to the lower side, and confirming the vehicle body position through the rubber alignment label; S5: transfer object loading, after the vehicle body position is in place, the tethering rope between the transfer object and the tethering hole is loosened, the lifting mechanism is lifted to lift the transfer tray, the tray supporting foot is retracted, the lifting mechanism is lowered to the position, and the fixed pin is inserted after the lifting mechanism is lowered to the position; S6: transfer operation, selecting the working condition as "transfer", selecting the vehicle driving mode according to the cabin space and the transfer route, and controlling the vehicle to drive according to the preset route through the joystick potentiometer; S7: unloading operation, the transfer vehicle drives into the unloading area, the fixed pin is pulled out, the lifting mechanism is lifted to the position, the tray supporting foot is lowered, the lifting mechanism is lowered to the position, the transfer tray supporting foot contacts the ground, the tethering rope between the transfer object and the deck tethering hole is tensioned, the vehicle is driven out from below the transfer tray, and then the manual stop lever is manually installed; S8: after the use of the transfer vehicle is completed, the "start / shutdown" button is pressed for 5 seconds, and the shutdown is completed.

[0023] Compared with the existing transfer vehicle, the present application has the following characteristics and beneficial effects: (1) Aiming at the characteristics of various transfer objects involving various sizes and installation interfaces, an installation and fixing scheme compatible with various transfer objects is proposed, and the use of the storage and transportation accessory equipment can meet the placement, fixation and transfer of various box type objects within the rated load range, thereby improving the practicability of the transfer vehicle; (2) According to the characteristics of the height limit and narrow space in the cabin passage, a driving device with extremely low installation height is proposed. The driving device adopts horizontal double support rudder wheel driving, which can effectively solve the contradiction between extremely low height size and low wheel pressure, and at the same time make the transfer vehicle realize forward driving, crab driving and (in-place) rotation while effectively protecting the deck coating. The rudder wheel support, driving motor and cable are all rigidly installed and do not move with the rudder wheel, greatly reducing the requirement for the installation space of the rudder wheel rotation radius. Since the motor is rigidly installed, there is no need to reserve space for cable movement, and wear and tear on the cable is also avoided.

[0024] (3) According to the characteristics of high-concentration salt mist and mold environment, extremely low temperature environment and extremely high temperature environment in the marine environment, as well as the requirement of explosion-proof, the designed explosion-proof lead-acid battery, explosion-proof remote control device, control box and driving box have electrical components that can be used normally and reliably in the above-mentioned wide temperature, salt mist, mold and explosion-proof environment, and the outer dimensions meet the extremely low height requirement of the vehicle body.

[0025] In addition, compared with the existing explosion-proof lead-acid battery in the market, the explosion-proof lead-acid battery compresses the positive plate and negative plate spacing, fully utilizes the length and width space, increases the length and width dimensions of the battery, and increases the active material, all while ensuring the battery capacity and compressing the battery height.

[0026] (4) According to the requirement of detecting and recording the inclination and vibration data of the transfer object during the transfer operation process, a vibration detection terminal is proposed. The vibration detection terminal can detect and record the inclination and vibration data of the transfer object in real time. The vibration detection program has an alarm threshold. When the detected data exceeds the alarm threshold, the host computer will feed back an alarm signal to the vehicle controller, which will be prompted through the display screen and warning light. The inclination and vibration data of the transfer object in the historical operation are traced back.

[0027] (5) Under the constraint condition of 450mm extremely low height size, the whole vehicle realizes omnidirectional walking function under rated load 6t working condition, lifting jacking function (stroke 100mm), obstacle crossing function (40mm obstacle crossing height), and ditch crossing function (80mm ditch crossing width). The explosion-proof grade reaches IIBT4 level, and the vehicle height is low to meet the height limit requirement in the cabin.

[0028] (6) The extremely low height omnidirectional heavy load transfer vehicle realizes 100% domesticization, all components are made of domestic components, and its reliability has been verified by reliability test, which meets the requirements of marine environment adaptation.

[0029] In summary, this invention, when applied to a comprehensive supply vessel, has proven capable of independently loading, unloading, transferring, and storing various types of transport objects. The transport vehicle possesses omnidirectional mobility, a low overall height, and is adaptable to movement within the cargo hold or access to elevators in both loaded and unloaded states. This invention can be adaptively modified according to load capacity and vehicle dimensions requirements, making it applicable to all marine mobile transport operations. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 for Figure 1 A schematic diagram of the CRRC body structure; Figure 3 for Figure 1 Schematic diagram of the lifting mechanism; Figure 4 for Figure 1 Schematic diagram of the explosion-proof remote control device; Figure 5 for Figure 1 Schematic diagram of the central control box; Figure 6 for Figure 1 Schematic diagram of the drive box structure; Figure 7 for Figure 1 Structural diagram of auxiliary equipment of China Storage & Transportation Corporation; Figure 8 This is a schematic diagram of the installation of transfer pallet 1 and transfer vehicle (taking transfer pallet 1 as an example). Figure 9 A schematic diagram of the transfer process for the transferred objects; Figure 10 A storage diagram for various types of transshipment objects (taking five types of transshipment objects as an example); Figure 11 This is a schematic diagram of the operation process of the present invention. Detailed Implementation

[0031] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0032] like Figure 1 As shown, this invention provides an extremely low-height omnidirectional heavy-duty transport vehicle, including a vehicle body 1, a lifting mechanism 2, a drive unit 3, an explosion-proof lead-acid battery 4, an explosion-proof remote control device 5, a control box 6, a drive box 7, a vibration detection terminal 8, a charging socket 9, and storage and transportation auxiliary equipment 10. The lifting mechanism 2, the explosion-proof lead-acid battery 4, the control box 6, the drive box 7, the vibration detection terminal 8, and the charging socket 9 are installed inside the vehicle body 1. The lifting mechanism is symmetrically installed on both sides of the vehicle body 1, and the drive unit 3 is installed at the bottom of the vehicle body 1.

[0033] like Figure 2As shown, the vehicle body 1 consists of a cover assembly 1-1 and a frame 1-2.

[0034] like Figure 3 As shown, the lifting mechanism 2 consists of a lift 2-1, a commutator 2-2, a motor 2-3, a right-angle planetary reducer 2-4, and a connecting rod 2-5.

[0035] like Figure 4 As shown, the operation panel of the explosion-proof remote control device 5 integrates an explosion-proof display screen 5-1, a selector switch 5-2, an emergency stop button 5-3, a rocker potentiometer 5-4, a warning light 5-5, a reset button 5-6, etc. like Figure 5 As shown, the control box 6 consists of an explosion-proof enclosure 6-1, a vehicle controller 6-2, a switching power supply 6-3, a relay 6-4, a contactor 6-5, a circuit breaker 6-6, and terminal blocks 6-7.

[0036] like Figure 6 As shown, the drive box 7 consists of an explosion-proof enclosure 7-1, a driver 7-2, a contactor 7-3, a fuse 7-4, etc. like Figure 7 As shown, the storage and transportation auxiliary equipment 10 consists of transfer pallet 10-1, transfer pallet 2 10-2, fastening strap 10-3, limit pin 10-4, and fixing pin 10-5.

[0037] like Figure 8 The diagram shown is a schematic of the installation of the transfer pallet 10-1 and the transfer vehicle. like Figure 9 The diagram shows the transfer operation of the object. The object is connected and fixed to the transfer pallet 10-1, with horizontal movement limited by a limiting pin 10-4. Vertical movement is limited by a fastening strap 10-3 connected and fixed to the transfer pallet 10-1. The transfer pallet 10-1 is placed on the vehicle body 1. Blocks are installed on the horizontal and vertical support bars above the vehicle body to restrict the horizontal movement of the transfer pallet 10-1. After the transfer pallet 10-1 is correctly inserted into the block, fixing pins 10-5 are installed on both sides of the transfer pallet 10-1, thus finally fixing the object to be transferred.

[0038] like Figure 10 As shown, this is a schematic diagram of the storage of various types of transport objects (taking type 5 objects as an example). This invention designs two types of transport pallets with different specifications and sizes to accommodate different specifications and support points. The transport objects are placed on the transport pallets. The four corners of the transport objects and the transport pallets 10-1 are equipped with tie rings, which can be secured by the fastening straps 10-3.

[0039] like Figure 11 As shown, this invention provides a method for operating an extremely low-height omnidirectional heavy-duty transport vehicle, the main process of which is as follows: S1, Vehicle Start: Press the vehicle "Start" button to power on the vehicle controller, and the three-color indicator lights will illuminate after power-on.

[0040] S2, activate the vibration detection terminal and start working: press the "Power On" button on the control box, the screen lights up, press the four-digit number, press the "Confirm" button, and then press the "Work" button. The vibration detection terminal will start working.

[0041] S3, Driving mode selection: Select "Transfer" for operating conditions, and choose the vehicle driving mode according to the cabin space and transfer route; S4, Alignment of Transferred Object: Start the operation. Manually remove the manual stop lever on the outer support leg of the transfer pallet. Operate the wired control box to control the transfer vehicle to drive from the narrow side of the transfer object into the space under the transfer object. Adjust the vehicle's posture. Rubber alignment labels are set on the four corners of the transfer pallet. The operator can judge that the vehicle's position has been adjusted to the correct position by observing that the positions of the two corresponding marks are basically aligned.

[0042] S5, Loading the Transfer Object: After the vehicle body is in position, loosen the mooring cable between the transfer object and the mooring hole; operate the lifting mechanism to raise the transfer pallet, manually rotate and retract all the pallet's support legs, and operate the lifting mechanism to lower it into place; insert the fixing pin into the corresponding position on the transfer pallet, thus completing the fixed connection between the transfer pallet and the transfer vehicle. Release the mooring cable between the transfer object and the deck mooring hole; S6, Transfer Operation: Select "Transfer" as the working condition, and select the vehicle driving mode according to the cabin space and transfer route. The front and rear joysticks and left and right joysticks can be operated simultaneously to control the vehicle driving. S7, Unloading Operation: The transfer vehicle enters the unloading area and adjusts its position. The pins connecting the transfer pallet to the vehicle body are pulled out, and the lifting mechanism is raised to the correct position. All legs of the transfer pallet are manually rotated and lowered completely. The lifting mechanism is lowered to the correct position, and the legs of the transfer pallet contact the ground. The mooring cable between the transfer object and the deck mooring hole is tightened. The vehicle is driven out from under the transfer pallet, and then the manual stop lever is manually installed to complete the unloading operation.

[0043] S8, after the transfer vehicle is finished using it, press and hold the "Start / Stop" button for 5 seconds to turn off the equipment.

[0044] In summary, this invention, through reasonable structural design and component selection, solves the shortcomings of existing transfer vehicles in terms of marine environmental adaptability, extremely low height, localization, independent operation, and compatibility. It can be widely used in the transfer of aviation materials and spare parts on various types of ships such as comprehensive supply ships, and can also be adapted to other marine mobile transport conditions according to load and size requirements.

Claims

1. A low-height omnidirectional heavy-duty transfer vehicle, characterized in that, The vehicle includes a body, lifting mechanism, drive unit, explosion-proof lead-acid battery, explosion-proof remote control device, control box, drive box, vibration detection terminal, charging socket, and storage and transportation auxiliary equipment. The lifting mechanism, explosion-proof lead-acid battery, control box, drive box, vibration detection terminal, and charging socket are all installed inside the vehicle body. The lifting mechanism is symmetrically arranged on both sides of the vehicle body, and the drive unit is installed at the bottom of the vehicle body. The storage and transportation auxiliary equipment is detachably connected to the vehicle body. The overall height of the transfer vehicle is ≤450mm, the rated load is ≥6t, the explosion-proof level reaches IIBT4, and it is suitable for operation in the confined space of ship cabins under sea state 5.

2. The ultra-low-height omnidirectional heavy-duty transfer vehicle according to claim 1, characterized in that, The vehicle body is composed of a cover assembly and a frame. The upper surface of the vehicle body is provided with transverse and longitudinal support bars, and the support bars are equipped with blocks for limiting the storage and transportation auxiliary equipment.

3. The ultra-low-height omnidirectional heavy-duty transfer vehicle according to claim 1, characterized in that, The drive unit consists of four sets of double-supported steering wheels and a drive motor. The double-supported steering wheels adopt a horizontal mounting structure. The steering wheel bracket, drive motor and cable are all rigidly fixed to the frame and do not move with the steering wheel. The drive unit can realize forward driving, crab driving and turning in place, and the wheel pressure is adapted to the protection requirements of ship deck coating.

4. The ultra-low-height omnidirectional heavy-duty transfer vehicle according to claim 1, characterized in that, The lifting mechanism consists of two symmetrically arranged spiral lifting mechanisms. Each spiral lifting mechanism includes a lift, a commutator, a motor, a right-angle planetary reducer, and a connecting rod. The lifting stroke of the lifting mechanism is ≥100mm, and it can independently complete the loading and unloading of the transported object without the need for external lifting tools.

5. The ultra-low-height omnidirectional heavy-duty transfer vehicle according to claim 1, characterized in that, The explosion-proof lead-acid battery increases the amount of active material by compressing the distance between the positive and negative plates and increasing the dimensions in the length and width directions; while ensuring capacity, it is highly adaptable to the extremely low installation requirements of the vehicle body.

6. The ultra-low-height omnidirectional heavy-duty transfer vehicle according to claim 1, characterized in that, The vibration detection terminal includes a vibration sensor, a main unit, an explosion-proof switch box, and data management software. The vibration sensor is installed on the upper surface of the vehicle body and is used to detect the tilt angle and vibration data of the transported object in real time. The main unit is electrically connected to the control box. When the detected data exceeds the preset alarm threshold, an alarm signal is issued through the display screen and warning light of the explosion-proof remote control device, and a safety response is triggered.

7. The ultra-low-height omnidirectional heavy-duty transfer vehicle according to claim 1, characterized in that, The operation panel of the explosion-proof remote control device integrates an explosion-proof display screen, a selector switch, an emergency stop button, a rocker potentiometer, a warning light, and a reset button; the rocker potentiometer supports simultaneous movement in the forward and backward and left and right directions, enabling precise control of the omnidirectional movement of the transport vehicle.

8. The ultra-low-height omnidirectional heavy-duty transfer vehicle according to claim 1, characterized in that, The control box consists of an explosion-proof enclosure, a vehicle controller, a switching power supply, relays, contactors, circuit breakers, and terminals; the drive box consists of an explosion-proof enclosure, a motor driver, contactors, and fuses; all electrical components in the control box and drive box are domestically produced and are suitable for salt spray, mold, and explosion-proof environments.

9. The ultra-low-height omnidirectional heavy-duty transfer vehicle according to claim 1, characterized in that, The storage and transportation auxiliary equipment includes at least two sizes of transfer pallets, fastening straps, limiting pins, and fixing pins; the transfer pallets are equipped with tethering rings at the four corners, and are limited horizontally by limiting pins in cooperation with vehicle body blocks, and vertically by fastening straps to fix the transfer objects; the transfer vehicle has obstacle-crossing and ditch-crossing functions, with an obstacle-crossing height ≥40mm and a ditch-crossing width ≥80mm; the bottom of the vehicle body is equipped with a protective structure for protecting electrical components, and is adapted to the requirements of obstacle crossing and passageway travel in ship cabins.

10. A method for operating a low-height omnidirectional heavy-duty transport vehicle based on any one of claims 1-9, characterized in that, Includes the following steps: S1: When the vehicle is started, press the "Start" button. The vehicle controller will be powered on, and the three-color indicator lights will illuminate. S2: Activate the vibration detection terminal. Press the "Power On" button on the control box. After the screen lights up, enter the four-digit number and confirm. Press the "Work" button, and the vibration detection terminal will start working. S3: Select the travel mode and choose "Transfer" for the working condition. Select the vehicle travel mode according to the cabin space and transfer route. S4: Align the transfer object. Remove the manual lever on the outer outrigger of the transfer pallet and control the transfer vehicle to travel from the narrow side of the transfer object to below it. Confirm the vehicle's position using the rubber alignment tag. S5: Load the transfer object. After the vehicle is in position, loosen the tethering cable between the transfer object and the tethering hole. Control the lifting mechanism to raise the transfer pallet, retract the pallet support legs, and after the lifting mechanism lowers to the correct position, insert the fixing pin to release the tethering cable. S6: Transfer operation. Select "Transfer" for the working condition and choose the vehicle travel mode according to the cabin space and transfer route. Control the vehicle to travel along the preset route using the joystick potentiometer. S7: Unloading operation. The transfer vehicle drives into the unloading area, pulls out the fixing pin, the lifting mechanism rises to the position, lowers the pallet support feet, the lifting mechanism descends to the position, the transfer pallet support feet touch the ground, the mooring cable between the transfer object and the deck mooring hole is tightened, the vehicle drives out from under the transfer pallet, and then the manual shift lever is installed manually; S8: After the transfer vehicle is used, press and hold the "Start / Shutdown" button for 5 seconds to complete the shutdown.

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